Trajectory Planning of Manipulator Based on NSGA-Ⅱ Under Multi-Objectives
Taking UR5e manipulator as the research object,trajectory planning is carried out for the motion trajectory of the manipulator during its operation.The joint space trajectory of the manipulator is constructed by cubic B-spline curve,and the non-dominated sorting genetic algorithm-Ⅱ(NSGA-Ⅱ)is adopted to meet the requirements of short time,low energy consumption and smooth motion.In view of its shortcom-ings such as easy falling into local optimum and slow convergence,good point set and non-uniform muta-tion operator are adopted to make the initial population distribution more uniform and accelerate conver-gence.The simulation results show that the trajectory speed,acceleration and jerk of the manipulator con-structed by the cubic B-spline curve are continuous and smooth,and there is no fault phenomenon.Under the premise of kinematic constraints,the generation distance of the improved NSGA-Ⅱalgorithm is reduced by 76.96%on average,and the spatial distribution index is reduced by 23.06%on average,which is better than the original algorithm in convergence and distribution,closer to Pareto optimal solution,and effectively realizes the multi-objective optimization problem of the manipulator.
NETL
NSTL
万方数据
